/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/opengl/CRenderizableShaderTriangles.h>

namespace mrpt::opengl
{
class CCylinder;
/** A cylinder or cone whose base lies in the XY plane.
 * \sa opengl::COpenGLScene,opengl::CDisk
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CCylinder </td> <td> \image html
 * preview_CCylinder.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CCylinder : public CRenderizableShaderTriangles
{
	DEFINE_SERIALIZABLE(CCylinder, mrpt::opengl)
	DEFINE_SCHEMA_SERIALIZABLE()
   public:
	/** @name Renderizable shader API virtual methods
	 * @{ */
	void onUpdateBuffers_Triangles() override;
	/** @} */

	bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
	/**
	 * Configuration of the cylinder's bases display.
	 */
	inline void setHasBases(bool top = true, bool bottom = true)
	{
		m_hasTopBase = top;
		m_hasBottomBase = bottom;
		CRenderizable::notifyChange();
	}
	/**
	 * Check whether top base is displayed.
	 * \sa hasBottomBase
	 */
	inline bool hasTopBase() const { return m_hasTopBase; }
	/**
	 * Check whether bottom base is displayed.
	 * \sa hasTopBase
	 */
	inline bool hasBottomBase() const { return m_hasBottomBase; }
	/**
	 * Sets both radii to a single value, thus configuring the object as a
	 * cylinder.
	 * \sa setRadii
	 */
	inline void setRadius(float radius)
	{
		m_baseRadius = m_topRadius = radius;
		CRenderizable::notifyChange();
	}
	/**
	 * Sets both radii independently.
	 * \sa setRadius
	 */
	inline void setRadii(float bottom, float top)
	{
		m_baseRadius = bottom;
		m_topRadius = top;
		CRenderizable::notifyChange();
	}
	/**
	 * Chenges cylinder's height.
	 */
	inline void setHeight(float height)
	{
		m_height = height;
		CRenderizable::notifyChange();
	}
	/**
	 * Gets the bottom radius.
	 */
	inline float getBottomRadius() const { return m_baseRadius; }
	/**
	 * Gets the top radius.
	 */
	inline float getTopRadius() const { return m_topRadius; }
	/**
	 * Gets the cylinder's height.
	 */
	inline float getHeight() const { return m_height; }

	/** Number of radial divisions  */
	inline void setSlicesCount(uint32_t slices)
	{
		m_slices = slices;
		CRenderizable::notifyChange();
	}

	/** Number of radial divisions  */
	inline uint32_t getSlicesCount() const { return m_slices; }

	/** Evaluates the bounding box of this object (including possible children)
	 * in the coordinate frame of the object parent. */
	mrpt::math::TBoundingBox getBoundingBox() const override;

	CCylinder() = default;
	/**
	 * Complete constructor. Allows the configuration of every parameter.
	 */
	/** Constructor with two radii. Allows the construction of any cylinder. */
	CCylinder(
		const float baseRadius, const float topRadius, const float height = 1,
		const int slices = 10)
		: m_baseRadius(baseRadius),
		  m_topRadius(topRadius),
		  m_height(height),
		  m_slices(slices),
		  m_hasTopBase(true),
		  m_hasBottomBase(true)
	{
	}
	/** Destructor */
	~CCylinder() override = default;

   protected:
	/**
	 * Cylinder's radii. If m_baseRadius==m_topRadius, then the object is an
	 * actual cylinder. If both differ, it's a truncated cone. If one of the
	 * radii is zero, the object is a cone.
	 */
	float m_baseRadius{1}, m_topRadius{1};
	/**
	 * Cylinder's height
	 */
	float m_height{1};

	/** Number of radial divisions. */
	uint32_t m_slices{10};

	/**
	 * Boolean parameters about including the bases in the object. If both
	 * m_hasTopBase and m_hasBottomBase are set to false, only the lateral area
	 * is displayed.
	 */
	bool m_hasTopBase{true}, m_hasBottomBase{true};

   private:
	/**
	 * Gets the radius of the circunference located at certain height,
	 * returning false if the cylinder doesn't get that high.
	 */
	inline bool getRadius(float Z, float& r) const
	{
		if (!reachesHeight(Z)) return false;
		r = (Z / m_height) * (m_topRadius - m_baseRadius) + m_baseRadius;
		return true;
	}
	/**
	 * Checks whether the cylinder exists at some height.
	 */
	inline bool reachesHeight(float Z) const
	{
		return (m_height < 0) ? (Z >= m_height && Z <= 0)
							  : (Z <= m_height && Z >= 0);
	}
	inline bool reachesHeight(double Z) const { return reachesHeight(d2f(Z)); }
};
}  // namespace mrpt::opengl
